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           <title>Function Reference (Optimization Toolbox&#8482;)</title><link rel="stylesheet" href="docstyle.css" type="text/css"><meta name="generator" content="DocBook XSL Stylesheets V1.52.2"><meta name="description" content="Lists Optimization Toolbox functions by category. ">
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<table class="refpartnertable" border="0" cellpadding="0" cellspacing="0" width="100%">
  <tr>
    <td><h1 class="refpartnerheading"><a name="bqnk0r0"></a>Function Reference</h1></td>
    <td class="refpartnerlink"><a href="contents_alpha.html"><img src="more_arrows.gif" border="0" align="bottom" alt="Click for Alphabetical List">&nbsp;Alphabetical List</a></td>
  </tr>
</table><hr>
<a class="indexterm" name="top-page"></a>
<table border="1"><tr><td>  <table border="0" cellpadding="5" class="categorylist">
    <tr valign="top">
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#3dtransforms">3D transforms</a></td>
      <td>Manipulate homogeneous transformations and orthonormal rotation matrices</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#2dtransforms">2D transforms</a></td>
      <td>Manipulate homogeneous transformations and orthonormal rotation matrices</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#homogeneouspointsandlines">Homogeneous points and lines</a></td>
      <td>Manipulate homogeneous points and lines</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#differentialmotion">Differential motion</a></td>
      <td>Convert differential motion between coordinate frames</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#trajectorygeneration">Trajectory generation</a></td>
      <td>Create motion trajectory and interpolate poses</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#quaternion">Quaternion</a></td>
      <td>Manipulate unit quaternions</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#serial-linkmanipulator">Serial-link manipulator</a></td>
      <td>Class representing the kinematics and dynamics of a serial-link manipulator</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<a href="#models">Models</a></td>
      <td>Models of serial-link manipulators</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<a href="#kinematic">Kinematic</a></td>
      <td>Serial-link manipulator kinematic functions</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<a href="#dynamics">Dynamics</a></td>
      <td>Serial-link manipulator dynamic functions</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#mobilerobot">Mobile robot</a></td>
      <td>Classes for mobile robotics problems</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<a href="#localization">Localization</a></td>
      <td>Mobile robot localization algorithms</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<a href="#pathplanning">Path planning</a></td>
      <td>Mobile robot path planning algorithms</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#graphics">Graphics</a></td>
      <td>Useful graphic primitives</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#utility">Utility</a></td>
      <td>Miscellaneous functions</td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#demonstrations">Demonstrations</a></td>
      <td></td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#interfacing">Interfacing</a></td>
      <td></td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#codegeneration">Code generation</a></td>
      <td></td></tr>
      <td width="300">&nbsp;&nbsp;&nbsp;&nbsp;<a href="#examples">Examples</a></td>
      <td></td></tr>
   </table></td></tr></table>
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<h1 class="categorytitle">3D transforms</h1>
  <a class="indexterm" name="3dtransforms"></a>
  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/angvec2r.html">angvec2r</a></td><td>angle/vector to SO3</td></tr>
    <tr valign="top"><td width="150"><a href="html/angvec2tr.html">angvec2tr</a></td><td>angle/vector to SE3</td></tr>
    <tr valign="top"><td width="150"><a href="html/eul2r.html">eul2r</a></td><td>Euler angles to SO3</td></tr>
    <tr valign="top"><td width="150"><a href="html/eul2tr.html">eul2tr</a></td><td>Euler angles to SE3</td></tr>
    <tr valign="top"><td width="150"><a href="html/ishomog.html">ishomog</a></td><td>true if argument is SE3</td></tr>
    <tr valign="top"><td width="150"><a href="html/isrot.html">isrot</a></td><td>true if argument is a SO3 matrix</td></tr>
    <tr valign="top"><td width="150"><a href="html/oa2r.html">oa2r</a></td><td>orientation and approach vector to SO3</td></tr>
    <tr valign="top"><td width="150"><a href="html/oa2tr.html">oa2tr</a></td><td>orientation and approach vector to SE3</td></tr>
    <tr valign="top"><td width="150"><a href="html/r2t.html">r2t</a></td><td>SO3 to SE3</td></tr>
    <tr valign="top"><td width="150"><a href="html/rt2tr.html">rt2tr</a></td><td>(R,t) to SE3</td></tr>
    <tr valign="top"><td width="150"><a href="html/rotx.html">rotx</a></td><td>SO3 for rotation about X-axis</td></tr>
    <tr valign="top"><td width="150"><a href="html/roty.html">roty</a></td><td>SO3 for rotation about Y-axis</td></tr>
    <tr valign="top"><td width="150"><a href="html/rotz.html">rotz</a></td><td>SO3 for rotation about Z-axis</td></tr>
    <tr valign="top"><td width="150"><a href="html/rpy2r.html">rpy2r</a></td><td>roll/pitch/yaw angles to SO3</td></tr>
    <tr valign="top"><td width="150"><a href="html/rpy2tr.html">rpy2tr</a></td><td>roll/pitch/yaw angles to SE3</td></tr>
    <tr valign="top"><td width="150"><a href="html/t2r.html">t2r</a></td><td>SE3 to SO3</td></tr>
    <tr valign="top"><td width="150"><a href="html/tr2angvec.html">tr2angvec</a></td><td>SE3/SO3 to angle/vector form</td></tr>
    <tr valign="top"><td width="150"><a href="html/tr2eul.html">tr2eul</a></td><td>SE3/SO3 to Euler angles</td></tr>
    <tr valign="top"><td width="150"><a href="html/tr2rpy.html">tr2rpy</a></td><td>SE3/SO3 to roll/pitch/yaw angles</td></tr>
    <tr valign="top"><td width="150"><a href="html/tr2rt.html">tr2rt</a></td><td>SE3 to (R,t)</td></tr>
    <tr valign="top"><td width="150"><a href="html/tranimate.html">tranimate</a></td><td>animate a coordinate frame</td></tr>
    <tr valign="top"><td width="150"><a href="html/trchain.html">trchain</a></td><td>evaluate a series of transforms</td></tr>
    <tr valign="top"><td width="150"><a href="html/tripleangle.html">tripleangle</a></td><td>graphical interactive three angle rotation</td></tr>
    <tr valign="top"><td width="150"><a href="html/transl.html">transl</a></td><td>set or extract the translational component of SE3</td></tr>
    <tr valign="top"><td width="150"><a href="html/trnorm.html">trnorm</a></td><td>normalize SE3</td></tr>
    <tr valign="top"><td width="150"><a href="html/trchain.html">trchain</a></td><td>chain of SE(3) transforms</td></tr>
    <tr valign="top"><td width="150"><a href="html/trplot.html">trplot</a></td><td>plot SE3 as a coordinate frame</td></tr>
    <tr valign="top"><td width="150"><a href="html/trprint.html">trprint</a></td><td>print an SE3</td></tr>
    <tr valign="top"><td width="150"><a href="html/trotx.html">trotx</a></td><td>SE3 for rotation about X-axis</td></tr>
    <tr valign="top"><td width="150"><a href="html/troty.html">troty</a></td><td>SE3 for rotation about Y-axis</td></tr>
    <tr valign="top"><td width="150"><a href="html/trotz.html">trotz</a></td><td>SE3 for rotation about Z-axis</td></tr>
    <tr valign="top"><td width="150"><a href="html/trscale.html">trscale</a></td><td>SE3 for scale change</td></tr>
</table>
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<h1 class="categorytitle">2D transforms</h1>
  <a class="indexterm" name="2dtransforms"></a>
  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/ishomog2.html">ishomog2</a></td><td>true if argument is a 3x3 matrix</td></tr>
    <tr valign="top"><td width="150"><a href="html/isrot2.html">isrot2</a></td><td>true if argument is a 2x2 matrix</td></tr>
    <tr valign="top"><td width="150"><a href="html/rot2.html">rot2</a></td><td>SO2  rotation</td></tr>
    <tr valign="top"><td width="150"><a href="html/se2.html">se2</a></td><td>create SE2</td></tr>
    <tr valign="top"><td width="150"><a href="html/se3.html">se3</a></td><td>lift SE2 to SE3</td></tr>
    <tr valign="top"><td width="150"><a href="html/transl2.html">transl2</a></td><td>set or extract the translational component of SE2</td></tr>
    <tr valign="top"><td width="150"><a href="html/trchain2.html">trchain2</a></td><td>chain of SE2 transforms</td></tr>
    <tr valign="top"><td width="150"><a href="html/trot2.html">trot2</a></td><td>SO2 rotation</td></tr>
    <tr valign="top"><td width="150"><a href="html/trplot2.html">trplot2</a></td><td>plot SE2 as a coordinate frame</td></tr>
</table>
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<h1 class="categorytitle">Homogeneous points and lines</h1>
  <a class="indexterm" name="homogeneouspointsandlines"></a>
  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/e2h.html">e2h</a></td><td>Euclidean coordinates to homogeneous</td></tr>
    <tr valign="top"><td width="150"><a href="html/h2e.html">h2e</a></td><td>homogeneous coordinates to Euclidean</td></tr>
    <tr valign="top"><td width="150"><a href="html/homline.html">homline</a></td><td>create line from 2 points</td></tr>
    <tr valign="top"><td width="150"><a href="html/homtrans.html">homtrans</a></td><td>transform points</td></tr>
</table>
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<h1 class="categorytitle">Differential motion</h1>
  <a class="indexterm" name="differentialmotion"></a>
  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/delta2tr.html">delta2tr</a></td><td>differential motion vector to SE3</td></tr>
    <tr valign="top"><td width="150"><a href="html/eul2jac.html">eul2jac</a></td><td>Euler angles to Jacobian</td></tr>
    <tr valign="top"><td width="150"><a href="html/rpy2jac.html">rpy2jac</a></td><td>RPY angles to Jacobian</td></tr>
    <tr valign="top"><td width="150"><a href="html/skew.html">skew</a></td><td>vector to skew symmetric matrix</td></tr>
    <tr valign="top"><td width="150"><a href="html/tr2delta.html">tr2delta</a></td><td>SE3 to differential motion vector</td></tr>
    <tr valign="top"><td width="150"><a href="html/tr2jac.html">tr2jac</a></td><td>SE3 to Jacobian</td></tr>
    <tr valign="top"><td width="150"><a href="html/vex.html">vex</a></td><td>skew symmetric matrix to vector</td></tr>
    <tr valign="top"><td width="150"><a href="html/wtrans.html">wtrans</a></td><td>transform wrench between frames</td></tr>
</table>
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<h1 class="categorytitle">Trajectory generation</h1>
  <a class="indexterm" name="trajectorygeneration"></a>
  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/ctraj.html">ctraj</a></td><td>Cartesian trajectory</td></tr>
    <tr valign="top"><td width="150"><a href="html/jtraj.html">jtraj</a></td><td>joint space trajectory</td></tr>
    <tr valign="top"><td width="150"><a href="html/lspb.html">lspb</a></td><td>1D trapezoidal trajectory</td></tr>
    <tr valign="top"><td width="150"><a href="html/mtraj.html">mtraj</a></td><td>multi-axis trajectory for arbitrary function</td></tr>
    <tr valign="top"><td width="150"><a href="html/mstraj.html">mstraj</a></td><td>multi-axis multi-segment trajectory</td></tr>
    <tr valign="top"><td width="150"><a href="html/tpoly.html">tpoly</a></td><td>1D polynomial trajectory</td></tr>
    <tr valign="top"><td width="150"><a href="html/trinterp.html">trinterp</a></td><td>interpolate SE3 s</td></tr>
</table>
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<h1 class="categorytitle">Quaternion</h1>
  <a class="indexterm" name="quaternion"></a>
  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/Quaternion.html">Quaternion</a></td><td>constructor</td></tr>
    <tr valign="top"><td width="150"><a href="html//.html">/</a></td><td>divide quaternion by quaternion or scalar</td></tr>
    <tr valign="top"><td width="150"><a href="html/*.html">*</a></td><td>multiply quaternion by a quaternion or vector</td></tr>
    <tr valign="top"><td width="150"><a href="html/Quaternion.inv.html">Quaternion.inv</a></td><td>invert a quaternion</td></tr>
    <tr valign="top"><td width="150"><a href="html/Quaternion.norm.html">Quaternion.norm</a></td><td>norm of a quaternion</td></tr>
    <tr valign="top"><td width="150"><a href="html/Quaternion.plot.html">Quaternion.plot</a></td><td>display a quaternion as a 3D rotation</td></tr>
    <tr valign="top"><td width="150"><a href="html/Quaternion.unit.html">Quaternion.unit</a></td><td>unitize a quaternion</td></tr>
    <tr valign="top"><td width="150"><a href="html/Quaternion.interp.html">Quaternion.interp</a></td><td>interpolate a quaternion</td></tr>
</table>
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<h1 class="categorytitle">Serial-link manipulator</h1>
  <a class="indexterm" name="serial-linkmanipulator"></a>
  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/CodeGenerator.html">CodeGenerator</a></td><td>construct a robot specific code generator object</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.html">SerialLink</a></td><td>construct a serial-link robot object</td></tr>
    <tr valign="top"><td width="150"><a href="html/Link.html">Link</a></td><td>construct a general robot link object</td></tr>
    <tr valign="top"><td width="150"><a href="html/Prismatic.html">Prismatic</a></td><td>construct a prismatic robot link object</td></tr>
    <tr valign="top"><td width="150"><a href="html/Revolute.html">Revolute</a></td><td>construct a revolute robot link object</td></tr>
    <tr valign="top"><td width="150"><a href="html/PrismaticMDH.html">PrismaticMDH</a></td><td>construct a prismatic robot link object</td></tr>
    <tr valign="top"><td width="150"><a href="html/RevoluteMDH.html">RevoluteMDH</a></td><td>construct a revolute robot link object</td></tr>
    <tr valign="top"><td width="150"><a href="html/*.html">*</a></td><td>compound two robots</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.edit.html">SerialLink.edit</a></td><td>interactively edit a robot object</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.friction.html">SerialLink.friction</a></td><td>return joint friction torques</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.nofriction.html">SerialLink.nofriction</a></td><td>return a robot object with no friction</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.perturb.html">SerialLink.perturb</a></td><td>return a robot object with perturbed parameters</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.plot.html">SerialLink.plot</a></td><td>plot/animate robot</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.plot3d.html">SerialLink.plot3d</a></td><td>plot/animate robot as solid model</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.teach.html">SerialLink.teach</a></td><td>drive a graphical  robot</td></tr>
</table>
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<h2 class="categorytitle">Models</h2>
  <a class="indexterm" name="models"></a>
  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/mdl_baxter.html">mdl_baxter</a></td><td>Baxter 2-arm robot (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_Fanuc10L.html">mdl_Fanuc10L</a></td><td>Fanuc 10L (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_irb140.html">mdl_irb140</a></td><td>ABB IRB140 (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_irb140_mdh.html">mdl_irb140_mdh</a></td><td>ABB IRB140 (MDH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_jaco.html">mdl_jaco</a></td><td>Kinova Jaco arm (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_KR5.html">mdl_KR5</a></td><td>Kuka KR5 (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_m16.html">mdl_m16</a></td><td>Fanuc M16 (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_mico.html">mdl_mico</a></td><td>Kinova Mico arm (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_MotomanHP6.html">mdl_MotomanHP6</a></td><td>Motoman HP6 (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_nao.html">mdl_nao</a></td><td>Alderabaran NAO arms and legs (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_phantomx.html">mdl_phantomx</a></td><td>PhantomX pincher 4DOF hobby arm (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_puma560.html">mdl_puma560</a></td><td>Puma 560 data (DH, kine, dyn)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_puma560akb.html">mdl_puma560akb</a></td><td>Puma 560 data (MDH, kine, dyn)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_p8.html">mdl_p8</a></td><td>Puma 560 on an XY base (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_S4ABB2p8.html">mdl_S4ABB2p8</a></td><td>ABB S4 2.8 (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_stanford.html">mdl_stanford</a></td><td>Stanford arm data (DH, kine, dyn)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_stanford_mdh.html">mdl_stanford_mdh</a></td><td>Stanford arm data (MDH, kine, dyn)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_onelink.html">mdl_onelink</a></td><td>simple 1-link example (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_planar1.html">mdl_planar1</a></td><td>simple 1 link planar model (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_planar2.html">mdl_planar2</a></td><td>simple 2 link planar model (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_planar3.html">mdl_planar3</a></td><td>simple 3 link planar model (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_3link3d.html">mdl_3link3d</a></td><td>Simple 3DOF arm, no shoulder offset (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_twolink.html">mdl_twolink</a></td><td>simple 2-link example (DH, kine, dyn)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_twolink_mdh.html">mdl_twolink_mdh</a></td><td>simple 2-link example (MDH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_simple6.html">mdl_simple6</a></td><td>simple 6 link model (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_offset6.html">mdl_offset6</a></td><td>simple 6 link model (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_offset3.html">mdl_offset3</a></td><td>simple 3 link model (DH, kine)</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_ball.html">mdl_ball</a></td><td>high DOF chain that forms a ball</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_coil.html">mdl_coil</a></td><td>high DOF chain that forms a coil</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_hyper2d.html">mdl_hyper2d</a></td><td>2D high DOF chain</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_hyper3d.html">mdl_hyper3d</a></td><td>3D high DOF chain</td></tr>
    <tr valign="top"><td width="150"><a href="html/mdl_quadrotor.html">mdl_quadrotor</a></td><td>simple quadrotor model</td></tr>
</table>
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<h2 class="categorytitle">Kinematic</h2>
  <a class="indexterm" name="kinematic"></a>
  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/DHFactor.html">DHFactor</a></td><td>transform sequence to DH description</td></tr>
    <tr valign="top"><td width="150"><a href="html/jsingu.html">jsingu</a></td><td>find dependent joints</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.fellipse.html">SerialLink.fellipse</a></td><td>plot force ellipsoid</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.fkine.html">SerialLink.fkine</a></td><td>forward kinematics</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.ikine.html">SerialLink.ikine</a></td><td>inverse kinematics (numeric)</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.ikine_sym.html">SerialLink.ikine_sym</a></td><td>inverse kinematics (symbolic)</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.ikine6s.html">SerialLink.ikine6s</a></td><td>inverse kinematics for 6-axis arm with sph.wrist</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.jacob0.html">SerialLink.jacob0</a></td><td>Jacobian in base coordinate frame</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.jacobn.html">SerialLink.jacobn</a></td><td>Jacobian in end-effector coordinate frame</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.maniplty.html">SerialLink.maniplty</a></td><td>compute manipulability</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.trchain.html">SerialLink.trchain</a></td><td>express as chain of SE(3) transforms</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.vellipse.html">SerialLink.vellipse</a></td><td>plot velocity ellipsoid</td></tr>
</table>
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<h2 class="categorytitle">Dynamics</h2>
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  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/SerialLink.accel.html">SerialLink.accel</a></td><td>forward dynamics</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.cinertia.html">SerialLink.cinertia</a></td><td>Cartesian manipulator inertia matrix</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.coriolis.html">SerialLink.coriolis</a></td><td>centripetal/coriolis torque</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.fdyn.html">SerialLink.fdyn</a></td><td>forward dynamics</td></tr>
    <tr valign="top"><td width="150"><a href="html/wtrans.html">wtrans</a></td><td>transform a force/moment</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.gravload.html">SerialLink.gravload</a></td><td>gravity loading</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.inertia.html">SerialLink.inertia</a></td><td>manipulator inertia matrix</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.itorque.html">SerialLink.itorque</a></td><td>inertia torque</td></tr>
    <tr valign="top"><td width="150"><a href="html/SerialLink.rne.html">SerialLink.rne</a></td><td>inverse dynamics</td></tr>
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<h1 class="categorytitle">Mobile robot</h1>
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  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/Map.html">Map</a></td><td>point feature map object</td></tr>
    <tr valign="top"><td width="150"><a href="html/RandomPath.html">RandomPath</a></td><td>driver for Vehicle object</td></tr>
    <tr valign="top"><td width="150"><a href="html/RangeBearingSensor.html">RangeBearingSensor</a></td><td>"laser scanner" object</td></tr>
    <tr valign="top"><td width="150"><a href="html/Vehicle.html">Vehicle</a></td><td>construct a mobile robot object</td></tr>
    <tr valign="top"><td width="150"><a href="html/sl_bicycle.html">sl_bicycle</a></td><td>Simulink "bicycle model" of non-holonomic wheeled vehicle</td></tr>
    <tr valign="top"><td width="150"><a href="html/Navigation.html">Navigation</a></td><td>Navigation superclass</td></tr>
    <tr valign="top"><td width="150"><a href="html/Sensor.html">Sensor</a></td><td>robot sensor superclass</td></tr>
    <tr valign="top"><td width="150"><a href="html/makemap.html">makemap</a></td><td>build an occupancy grid</td></tr>
    <tr valign="top"><td width="150"><a href="html/plot_vehicle.html">plot_vehicle</a></td><td>plot vehicle</td></tr>
</table>
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<h2 class="categorytitle">Localization</h2>
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  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/EKF.html">EKF</a></td><td>extended Kalman filter object</td></tr>
    <tr valign="top"><td width="150"><a href="html/ParticleFilter.html">ParticleFilter</a></td><td>Monte Carlo estimator</td></tr>
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<h2 class="categorytitle">Path planning</h2>
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  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/Bug2.html">Bug2</a></td><td>bug navigation</td></tr>
    <tr valign="top"><td width="150"><a href="html/DXform.html">DXform</a></td><td>distance transform from map</td></tr>
    <tr valign="top"><td width="150"><a href="html/Dstar.html">Dstar</a></td><td>D* planner</td></tr>
    <tr valign="top"><td width="150"><a href="html/PRM.html">PRM</a></td><td>probabilistic roadmap planner</td></tr>
    <tr valign="top"><td width="150"><a href="html/RRT.html">RRT</a></td><td>rapidly exploring random tree</td></tr>
</table>
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<h1 class="categorytitle">Graphics</h1>
  <a class="indexterm" name="graphics"></a>
  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/Animate.html">Animate</a></td><td>record a graphical animation sequence</td></tr>
    <tr valign="top"><td width="150"><a href="html/plot2.html">plot2</a></td><td>plot trajectory</td></tr>
    <tr valign="top"><td width="150"><a href="html/plotp.html">plotp</a></td><td>plot points</td></tr>
    <tr valign="top"><td width="150"><a href="html/plot_arrow.html">plot_arrow</a></td><td>draw an arrow</td></tr>
    <tr valign="top"><td width="150"><a href="html/plot_box.html">plot_box</a></td><td>draw a box</td></tr>
    <tr valign="top"><td width="150"><a href="html/plot_circle.html">plot_circle</a></td><td>draw a circle</td></tr>
    <tr valign="top"><td width="150"><a href="html/plot_ellipse.html">plot_ellipse</a></td><td>draw an ellipse</td></tr>
    <tr valign="top"><td width="150"><a href="html/plot_ellipse_inv.html">plot_ellipse_inv</a></td><td>draw an ellipse</td></tr>
    <tr valign="top"><td width="150"><a href="html/plot_homline.html">plot_homline</a></td><td>plot homogeneous line</td></tr>
    <tr valign="top"><td width="150"><a href="html/plot_point.html">plot_point</a></td><td>plot points</td></tr>
    <tr valign="top"><td width="150"><a href="html/plot_poly.html">plot_poly</a></td><td>plot polygon</td></tr>
    <tr valign="top"><td width="150"><a href="html/plot_sphere.html">plot_sphere</a></td><td>draw a sphere</td></tr>
    <tr valign="top"><td width="150"><a href="html/qplot.html">qplot</a></td><td>plot joint angle trajectories</td></tr>
    <tr valign="top"><td width="150"><a href="html/plot2.html">plot2</a></td><td>Plot trajectories</td></tr>
    <tr valign="top"><td width="150"><a href="html/plotp.html">plotp</a></td><td>Plot trajectories</td></tr>
    <tr valign="top"><td width="150"><a href="html/xaxis.html">xaxis</a></td><td>set x-axis scaling</td></tr>
    <tr valign="top"><td width="150"><a href="html/yaxis.html">yaxis</a></td><td>set y-axis scaling</td></tr>
    <tr valign="top"><td width="150"><a href="html/xyzlabel.html">xyzlabel</a></td><td>label axes x, y and z</td></tr>
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<h1 class="categorytitle">Utility</h1>
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  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/about.html">about</a></td><td>summary of object size and type</td></tr>
    <tr valign="top"><td width="150"><a href="html/angdiff.html">angdiff</a></td><td>subtract 2 angles modulo 2pi</td></tr>
    <tr valign="top"><td width="150"><a href="html/arrow3.html">arrow3</a></td><td>draw a 3D arrow (third party code)</td></tr>
    <tr valign="top"><td width="150"><a href="html/bresenham.html">bresenham</a></td><td>Bresenhan line drawing</td></tr>
    <tr valign="top"><td width="150"><a href="html/circle.html">circle</a></td><td>compute/draw points on a circle</td></tr>
    <tr valign="top"><td width="150"><a href="html/colnorm.html">colnorm</a></td><td>columnwise norm of matrix</td></tr>
    <tr valign="top"><td width="150"><a href="html/colorname.html">colorname</a></td><td>map color name to RGB</td></tr>
    <tr valign="top"><td width="150"><a href="html/diff2.html">diff2</a></td><td>elementwise diff</td></tr>
    <tr valign="top"><td width="150"><a href="html/dockfigs.html">dockfigs</a></td><td>control figure docking with GUI</td></tr>
    <tr valign="top"><td width="150"><a href="html/edgelist.html">edgelist</a></td><td>trace edge of a shape</td></tr>
    <tr valign="top"><td width="150"><a href="html/gauss2d.html">gauss2d</a></td><td>Gaussian distribution in 2D</td></tr>
    <tr valign="top"><td width="150"><a href="html/ismatrix.html">ismatrix</a></td><td>true if non scalar</td></tr>
    <tr valign="top"><td width="150"><a href="html/isvec.html">isvec</a></td><td>true if argument is a 3-vector</td></tr>
    <tr valign="top"><td width="150"><a href="html/numcols.html">numcols</a></td><td>number of columns in matrix</td></tr>
    <tr valign="top"><td width="150"><a href="html/numrows.html">numrows</a></td><td>number of rows in matrix</td></tr>
    <tr valign="top"><td width="150"><a href="html/peak.html">peak</a></td><td>find peak in 1D signal</td></tr>
    <tr valign="top"><td width="150"><a href="html/peak2.html">peak2</a></td><td>find peak in 2D signal</td></tr>
    <tr valign="top"><td width="150"><a href="html/PGraph.html">PGraph</a></td><td>general purpose graph class</td></tr>
    <tr valign="top"><td width="150"><a href="html/polydiff.html">polydiff</a></td><td>derivative of polynomial</td></tr>
    <tr valign="top"><td width="150"><a href="html/Polygon.html">Polygon</a></td><td>general purpose polygon class</td></tr>
    <tr valign="top"><td width="150"><a href="html/randinit.html">randinit</a></td><td>initialize random number generator</td></tr>
    <tr valign="top"><td width="150"><a href="html/ramp.html">ramp</a></td><td>create linear ramp</td></tr>
    <tr valign="top"><td width="150"><a href="html/rvcpath.html">rvcpath</a></td><td>path to RVC install</td></tr>
    <tr valign="top"><td width="150"><a href="html/unit.html">unit</a></td><td>unitize a vector</td></tr>
    <tr valign="top"><td width="150"><a href="html/tb_optparse.html">tb_optparse</a></td><td>toolbox argument parser</td></tr>
    <tr valign="top"><td width="150"><a href="html/distancexform.html">distancexform</a></td><td>compute distance transform</td></tr>
    <tr valign="top"><td width="150"><a href="html/runscript.html">runscript</a></td><td>interactively step through a script</td></tr>
    <tr valign="top"><td width="150"><a href="html/multidfprintf.html">multidfprintf</a></td><td>printf extension</td></tr>
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<h1 class="categorytitle">Demonstrations</h1>
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  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/rtbdemo.html">rtbdemo</a></td><td>Serial-link manipulator demonstration</td></tr>
    <tr valign="top"><td width="150"><a href="html/tripleangle.html">tripleangle</a></td><td>demonstrate angle sequences</td></tr>
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<h1 class="categorytitle">Interfacing</h1>
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    <tr valign="top"><td width="150"><a href="html/Arbotix.html">Arbotix</a></td><td>Interface to Arbotix robot controller</td></tr>
    <tr valign="top"><td width="150"><a href="html/Machine.html">Machine</a></td><td>Abstract robot interface class</td></tr>
    <tr valign="top"><td width="150"><a href="html/RobotArm.html">RobotArm</a></td><td>Connect SerialLink object to real robot</td></tr>
    <tr valign="top"><td width="150"><a href="html/joystick.html">joystick</a></td><td>Help for joystick interface mex file</td></tr>
    <tr valign="top"><td width="150"><a href="html/joy2tr.html">joy2tr</a></td><td>Update SE3 based on joystick input</td></tr>
    <tr valign="top"><td width="150"><a href="html/VREP.html">VREP</a></td><td>VREP interface class</td></tr>
    <tr valign="top"><td width="150"><a href="html/VREP_mirror.html">VREP_mirror</a></td><td>MATLAB mirror for VREP object</td></tr>
    <tr valign="top"><td width="150"><a href="html/VREP_arm.html">VREP_arm</a></td><td>MATLAB mirror for VREP robot arm</td></tr>
    <tr valign="top"><td width="150"><a href="html/VREP_obj.html">VREP_obj</a></td><td>MATLAB mirror for VREP object</td></tr>
    <tr valign="top"><td width="150"><a href="html/VREP_camera.html">VREP_camera</a></td><td>MATLAB mirror for VREP camera object</td></tr>
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<h1 class="categorytitle">Code generation</h1>
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    <tr valign="top"><td width="150"><a href="html/ccodefunctionstring.html">ccodefunctionstring</a></td><td>Converts a symbolic expression into a C-code function</td></tr>
    <tr valign="top"><td width="150"><a href="html/distributeblocks.html">distributeblocks</a></td><td>Distribute blocks in Simulink block library</td></tr>
    <tr valign="top"><td width="150"><a href="html/doesblockexist.html">doesblockexist</a></td><td>Check existence of block in Simulink model</td></tr>
    <tr valign="top"><td width="150"><a href="html/getprofilefunctionstats.html">getprofilefunctionstats</a></td><td>[ funstats] = getprofilefunctionstats( pstats , desfun, varargin)</td></tr>
    <tr valign="top"><td width="150"><a href="html/simulinkext.html">simulinkext</a></td><td>Return file extension of Simulink block diagrams.</td></tr>
    <tr valign="top"><td width="150"><a href="html/symexpr2slblock.html">symexpr2slblock</a></td><td>Create symbolic embedded MATLAB Function block</td></tr>
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<h1 class="categorytitle">Examples</h1>
  <a class="indexterm" name="examples"></a>
  <table cellspacing="0" width="100%" border="0" cellpadding="2">
    <tr valign="top"><td width="150"><a href="html/sl_quadcopter.html">sl_quadcopter</a></td><td>Simulink model of a flying quadcopter</td></tr>
    <tr valign="top"><td width="150"><a href="html/sl_braitenberg.html">sl_braitenberg</a></td><td>Simulink model a Braitenberg vehicle</td></tr>
    <tr valign="top"><td width="150"><a href="html/movepoint.html">movepoint</a></td><td>non-holonomic vehicle moving to a point</td></tr>
    <tr valign="top"><td width="150"><a href="html/moveline.html">moveline</a></td><td>non-holonomic vehicle moving to a line</td></tr>
    <tr valign="top"><td width="150"><a href="html/movepose.html">movepose</a></td><td>non-holonomic vehicle moving to a pose</td></tr>
    <tr valign="top"><td width="150"><a href="html/joytest.html">joytest</a></td><td>demo of gaming joystick input</td></tr>
    <tr valign="top"><td width="150"><a href="html/walking.html">walking</a></td><td>example of 4-legged walking robot</td></tr>
    <tr valign="top"><td width="150"><a href="html/eg_inertia.html">eg_inertia</a></td><td>joint 1 inertia I(q1,q2)</td></tr>
    <tr valign="top"><td width="150"><a href="html/eg_inertia22.html">eg_inertia22</a></td><td>joint 2 inertia I(q3)</td></tr>
    <tr valign="top"><td width="150"><a href="html/eg_grav.html">eg_grav</a></td><td>joint 2 gravity load g(q2,q3)</td></tr>
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